/**
 ******************************************************************************
 * @FilePath: \for_infantry\Module\Gimbal.h
 * @Brief: 
 * @Date: 2021-01-12 23:31:08
 * @Author: Rio
 ******************************************************************************
 */
#ifndef __GIMBAL_H__
#define __GIMBAL_H__

#define __LASER_ON() HAL_GPIO_WritePin(LASER_GPIO_Port, LASER_Pin, GPIO_PIN_SET)
#define __LASER_OFF() HAL_GPIO_WritePin(LASER_GPIO_Port, LASER_Pin, GPIO_PIN_RESET)

typedef struct
{
    float pitchCenter;
    float pitchOffset;
    float pitPos;

    float disOffset;
    float shootOffset;
    float distance;

    float yawCenter;
    float filterOffset;
    float yawPos;
	
		float yawPre;
	  float yawRelV;

}visInf_t;

void Gimbal_Init(void);
void Gimbal_Ctrl(void);
#endif



